000148626 001__ 148626
000148626 005__ 20250120165542.0
000148626 0247_ $$2doi$$a10.1109/IROS58592.2024.10801552
000148626 0248_ $$2sideral$$a141875
000148626 037__ $$aART-2024-141875
000148626 041__ $$aeng
000148626 100__ $$aCano, Lorenzo$$uUniversidad de Zaragoza
000148626 245__ $$aProcedural generation of tunnel networks for unsupervised training and testing in underground applications
000148626 260__ $$c2024
000148626 5203_ $$aDeveloping a robotic application requires thorough testing of the complete system to ensure its reliability. However, depending on the target environment, real-life testing can be difficult to carry out, which favors simulations. Also, some techniques like those based on machine learning, may require large varieties of sensor data, which can be gathered in simulation with ease, whereas doing the same in real environments can pose a great challenge.This work presents a flexible approach to the procedural generation of tunnel networks suitable for underground robotics simulations. The method starts with a graph representation of an underground environment, and applies a custom meshing strategy to generate tunnels that follow the graph structure. This mesh can then be imported into the desired simulation software. The ease of use of this method allows for the testing of robotic applications in an arbitrary number of different environments in completely automated workflows.
000148626 540__ $$9info:eu-repo/semantics/closedAccess$$aAll rights reserved$$uhttp://www.europeana.eu/rights/rr-f/
000148626 655_4 $$ainfo:eu-repo/semantics/article$$vinfo:eu-repo/semantics/publishedVersion
000148626 700__ $$0(orcid)0000-0002-7600-0002$$aTardioli, Danilo
000148626 700__ $$0(orcid)0000-0001-7853-3622$$aMosteo, Alejandro R.
000148626 7102_ $$15007$$2520$$aUniversidad de Zaragoza$$bDpto. Informát.Ingenie.Sistms.$$cÁrea Ingen.Sistemas y Automát.
000148626 773__ $$g(2024), 4608-4615$$pProc. IEEE/RSJ Int. Conf. Intell. Rob. Syst.$$tProceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems$$x2153-0858
000148626 8564_ $$s3292244$$uhttps://zaguan.unizar.es/record/148626/files/texto_completo.pdf$$yVersión publicada
000148626 8564_ $$s3412974$$uhttps://zaguan.unizar.es/record/148626/files/texto_completo.jpg?subformat=icon$$xicon$$yVersión publicada
000148626 909CO $$ooai:zaguan.unizar.es:148626$$particulos$$pdriver
000148626 951__ $$a2025-01-20-14:54:22
000148626 980__ $$aARTICLE